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| Carfollowing model of intelligent connected vehicles considering time delay and multiple front vehicle feedbacks |
| LI Aoxue, FEI Fan, JIANG Haobin |
| 1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013，China; 2. Institute of Automotive Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013， China |
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Abstract To solve the delay problem between sensor perception and V2V communication in the intelligent networked environment, the dual delay multiple lookahead full velocity difference (DDMLFVD) model was proposed with considering dual delay and multiple front vehicle feedbacks. The dual delay information was introduced according to the sensing characteristics of intelligent connected vehicles, and the DDMLFVD model was proposed by combining the multivehicle speed differences and the desired speeds. The tiny perturbation method was utilized to solve the critical stability conditions of the DDMLFVD model, and the effects of the vehicle number in front of ego vehicle and the delay value on the stability domain of the model were investigated. The model was simulated and analyzed by the straight road scenario, and the stability effect of DDMLFVD on traffic flow under variable disturbance and variable delay scenarios was emphatically investigated. The results show that by the proposed DDMLFVD model, the disturbances can be well absorbed in the face of complex disturbances, and the stability of traffic flow can be improved.
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